CN117061562A - Cow intelligent monitoring platform and device based on wisdom pasture - Google Patents

Abstract

The invention relates to the technical field of pasture cow monitoring systems, in particular to an intelligent cow monitoring platform and device based on an intelligent pasture, which comprise a data acquisition component and a terminal upper computer, wherein the data acquisition component is connected with the terminal upper computer through a wireless transmission module, and comprises an STM32 chip, a storage module, a GPS positioning sensor, a motion sensor and a temperature sensor. The monitoring function of cows in pastures is realized through the data acquisition component, the cow motion information acquired by the data acquisition component is transmitted to the terminal upper computer through the wireless transmission module, and the upper computer software can display the data of each sensor in real time, so that the monitoring of the health state of the cows by the practitioner through the displayed positioning map data, temperature data and motion information is facilitated; the positioning information of the cows in the pasture can be accurately acquired, and the management is convenient.

Description

Cow intelligent monitoring platform and device based on wisdom pasture

Technical Field

The invention relates to the technical field of pasture cow monitoring systems, in particular to an intelligent cow monitoring platform and device based on an intelligent pasture.

Background

The internet of things is a huge intelligent network for connecting any object to realize intelligent identification, positioning, tracking monitoring and management; along with the development of the Internet of things, the technology of applying the Internet of things in the field of modern animal husbandry is also becoming mature; according to the analysis of the current state of the livestock industry in China, the milk production condition of the cows in the livestock industry is realized by only increasing the number of the cows, and the individual milk production level of single cows is lower;

judging the reason of the single dairy cow yield level according to the single dairy cow yield level of other countries, wherein the reason is that the single dairy cow yield level depends on an intelligent dairy cow management system, after the data information of the dairy cows is collected, the real-time data information is displayed on a terminal, and then the dairy cow state obtained by observing the data information of the dairy cows is observed, so that the health information and the milk yield of the dairy cows are evaluated according to the dairy cow state, and finally the milk yield of the dairy cows is finished according to the evaluation result; at present, the domestic internet of things is applied to the animal husbandry only in the primary stage of monitoring the surrounding environment of cows, and the wireless transmission function cannot simultaneously meet the requirements of long-distance transmission and low power consumption, so that interruption frequently occurs when the life information of cows is acquired, intelligent monitoring of cow information is not facilitated, and finally, the information of improving the milk yield of the cows in the pasture cannot be obtained quickly, so that the management of the cows in the pasture is further not facilitated. Therefore, we propose a cow intelligent monitoring platform and device based on wisdom pasture.

Disclosure of Invention

The invention aims to solve the defects in the prior art, and provides an intelligent cow monitoring platform and device based on an intelligent pasture.

In order to achieve the above purpose, the invention adopts the following technical scheme: the intelligent cow monitoring platform and device based on the intelligent pasture comprises a data acquisition assembly and a terminal upper computer, wherein the data acquisition assembly is connected with the terminal upper computer through a wireless transmission module, the data acquisition assembly comprises an STM32 chip, a storage module, a GPS positioning sensor, a motion sensor and a temperature sensor, and the data acquisition assembly is arranged outside a cow body; the microcontroller is used for receiving the movement information, the position information and the temperature information of the cows; the terminal upper computer comprises a data receiving module, a data display module and a data processing module;

the data receiving module is used for receiving the motion information, the position information and the temperature information acquired by the data acquisition component;

the data display module is used for displaying motion information, position information and temperature information in real time;

the data processing module is used for processing the motion information, the position information and the temperature information acquired by the data display module and respectively completing display in the form of a chart, a map and a chart;

the wireless transmission module is set based on a Beidou satellite system, the user section of the wireless transmission module comprises an AS32 module and an antenna which adopt SX1278 AS a core, the AS32 module which adopts SX1278 AS the core transmits the acquired cow motion information, position information and temperature information to an STM32 chip, and the further STM32 chip is in communication connection with a terminal upper computer to form information sharing and is further uploaded to a database;

the model of the motion sensor is MPU6050, which can collect acceleration information, gyroscope information and body surface temperature information of cows in pastures and transmit the information to an STM32 chip through an IIC interface;

the GPS positioning sensor is used for positioning the cow, GPS information is transmitted to the STM32 chip through the UART interface, the STM32 chip stores received data into the Micro SD card through the SPI bus, and meanwhile, the received data is transmitted to the terminal upper computer through the wireless transmission module.

Preferably, because the hardware IIC interface of the STM32 chip is unstable, the PB10 and PB11 pins of the STM32 chip and the SCL and SDA data lines connected to the motion sensor MPU6050 are initialized, then the registers of the motion sensor MPU6050 are reset to restore to the default values, and then the motion sensor MPU6050 is awakened to ensure that the motion sensor MPU6050 enters a normal working state.

Preferably, the acceleration full scale of the motion sensor MPU6050 is set to + -2 g, and the full scale of the gyroscope is set to + -2000 dps.

Preferably, the device ID of the motion sensor MPU6050 is read through the IIC interface, the PA15 pin is controlled to output a low level, so that the sensor device ID is 0x68, and if the read device ID does not match 0x68, the IIC pin initializing operation is performed again; if the correct device ID is read, the clock source is configured and data is sent to the STM32 chip.

Preferably, the GPS module adopts a U-BLOX NEO-6M module, after the NEO-6M module is electrified, GPS information of different frames is sent in turn, the UART interface is triggered to interrupt after the UART interface receives GPS data, a data frame with a frame header of SGPRMC is detected in an interrupt service program, and UTC time information and longitude and latitude value information are sent from the UART interface to a terminal upper computer after the detection is successful.

Preferably, after the data acquisition of the motion sensor is performed, the identification of the cow behavior is realized by adopting a K-means clustering algorithm, wherein the input of the K-means clustering algorithm comprises a data set X, n data elements and the number K of clusters, the output is a set of K clusters when the square sum of the cluster errors is converged, and the specific steps of the K-means algorithm are as follows:

1) Selecting k data points from the data set X as initial clustering center nodes C _j ，j＝1,2,3,…，k；

2) The Euclidean distance D (X) of each data node to the cluster center node of the initial cluster is calculated _i ，C _j )，i＝1,2,3，…n,j＝1,2,3,…，k；

3) If D (X) _i ，C _j )＝min{D(X _i ，C _j ) J=1, 2,3, …, k }, then X _i ∈Y _j I.e. comparing the distance from each data node to the central node of each cluster, X _i Dividing into clusters with minimum distance;

4) Re-computing cluster center nodes of new clustersj＝1,2,3,…，k；

5) Determining whether a clustering criterion function is converged, wherein the criterion functionIf E is less than or equal to epsilon, the clustering criterion function is converged, the algorithm is ended, otherwise, the distance from each data node to the cluster center node is continuously calculated, and iteration is repeated until the criterion function is converged;

wherein the Euclidean distance formula is

Preferably, the smaller the Euclidean distance between data nodes, the greater the Xi and yi similarities of the data samples, and vice versa.

Preferably, the motion sensor adopts three-dimensional modeling to represent the motion mode of the cow, namely an x-axis acceleration value, a y-axis acceleration value and a z-axis acceleration value, and the three-axis acceleration values are combined into oneWhere ax, ay and az represent the triaxial acceleration raw values, respectively.

An intelligent monitoring device which is worn on a cow body and is in communication connection with an intelligent monitoring platform, comprising;

the motion sensor in the data acquisition component acquires acceleration information and gyroscope information of cows in pastures:

the temperature sensor is used for collecting body temperature information of cows in pasture:

and a GPS module: the method comprises the steps of collecting position information of cows in pastures; the data acquisition component is worn at the neck of the cow through the binding belt.

Compared with the prior art, the invention has the following beneficial effects:

1. the monitoring function of cows in pastures is realized through the data acquisition component, the cow motion information acquired by the data acquisition component is transmitted to the terminal upper computer through the wireless transmission module, and the upper computer software can display the data of each sensor in real time, so that the monitoring of the health state of the cows by the practitioner through the displayed positioning map data, temperature data and motion information is facilitated;

2. meanwhile, the power consumption of the transmitted data adopted by the data acquisition component is 148.6mA, the GPS positioning error is controlled within the range of 30m, meanwhile, the transmission distance of the wireless transmission module is more than 2000m, the requirements of long-distance transmission and low power consumption are met, the positioning information of cows in pastures can be accurately acquired, and when an emergency occurs, the cows can be timely cured, so that the management of the dairy cows in the pastures is facilitated.

Drawings

FIG. 1 is a block diagram of a data acquisition assembly of the present invention;

FIG. 2 is a block diagram of the overall structure of the present invention;

FIG. 3 is a diagram showing the overall structure of the upper computer of the present invention;

FIG. 4 is a schematic diagram of the connection of the data acquisition assembly of the present invention;

FIG. 5 is a software flow diagram of a data acquisition assembly of the present invention;

FIG. 6 is a flow chart of initialization of MPU6050 of the present invention;

FIG. 7 is a flow chart of the GPS data frame detection software of the present invention;

FIG. 8 is a flowchart of the upper computer software of the present invention;

FIG. 9 is a diagram of raw acceleration data for the present invention;

FIG. 10 is a three-axis integrated acceleration value diagram of the present invention;

FIG. 11 is a schematic diagram of three-axis-in-one Gaussian filtered acceleration values according to the present invention;

FIG. 12 is a schematic diagram of a data acquisition assembly of the present invention;

fig. 13 is a schematic diagram of a split structure of a data acquisition assembly according to the present invention.

Detailed Description

The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art.

Examples

The intelligent cow monitoring platform based on the intelligent pasture as shown in the accompanying drawings 1-13 comprises a data acquisition assembly and a terminal upper computer, wherein the data acquisition assembly is connected with the terminal upper computer through a wireless transmission module and comprises an STM32 chip, a storage module, a GPS positioning sensor, a motion sensor and a temperature sensor, and the data acquisition assembly is arranged outside a cow body; the microcontroller is used for receiving the movement information, the position information and the temperature information of the cows; the terminal upper computer comprises a data receiving module, a data display module and a data processing module;

the data receiving module is used for receiving the motion information, the position information and the temperature information acquired by the data acquisition component;

the data display module is used for displaying the motion information, the position information and the temperature information in real time;

the data processing module is used for processing the motion information, the position information and the temperature information acquired by the data display module and respectively completing display in the form of a chart, a map and a chart;

the wireless transmission module is set based on a Beidou satellite system, the user section of the wireless transmission module comprises an AS32 module taking SX1278 AS a core and an antenna, the AS32 module taking SX1278 AS the core transmits the acquired cow motion information, position information and temperature information to an STM32 chip, and the further STM32 chip is in communication connection with a terminal upper computer to form information sharing and is further uploaded to a database;

the model of the motion sensor is MPU6050, which can collect acceleration information, gyroscope information and body surface temperature information of cows in pasture and transmit the information to the STM32 chip through an IIC interface;

the GPS positioning sensor is used for positioning the cow, GPS information is transmitted to the STM32 chip through the UART interface, the STM32 chip stores received data into the Micro SD card through the SPI bus, and meanwhile, the received data is transmitted to the terminal upper computer through the wireless transmission module.

Because the hardware IIC interface of the STM32 chip is unstable, initializing PB10 and PB11 pins of the STM32 chip and SCL and SDA data lines connected with a motion sensor MPU6050, resetting a register of the motion sensor MPU6050 to restore to a default value, waking up the motion sensor MPU6050 to ensure that the motion sensor MPU6050 enters a normal working state, setting the full range of acceleration of the motion sensor MPU6050 to be +/-2 g, reading the device ID of the motion sensor MPU6050 through the IIC interface, controlling a PA15 pin to output low level to enable the sensor device ID to be 0x68, and if the read device ID is inconsistent with 0x68, carrying out IIC pin initializing operation again; if the correct device ID is read, the clock source is configured and data is sent to the STM32 chip.

The sensor clock source is set through the last three bits CLKSEL [2:0] of the power management register, an X-axis gyro is used as a reference clock source, the clock precision is high, and finally the acceleration sensor and the like in the motion sensor MPU6050 can drive the MPU6050 to collect the values of the acceleration signal and the temperature signal.

The GPS module adopts a U-BLOX NEO-6M module, after the NEO-6M module is electrified, GPS information of different frames is sent in turn, the UART interface is triggered to interrupt after the UART interface receives GPS data, a data frame with a frame header of SGPRMC is detected in an interrupt service program, and UTC time information and longitude and latitude value information are sent from the UART interface to a terminal upper computer after the detection is successful.

The interrupt system of the STM32 chip is initialized when the interrupt priority is set, the STM32 chip is a microcontroller taking Cortex M3 as a kernel, only a priority group is needed to be established when an interrupt processing program is set, then the priority is indicated for the interrupt, and finally the interrupt is enabled. The Cortex M3 kernel supports interrupt nesting, can be automatically pushed into and pulled out of a stack, cannot cause the damage of register data when interrupt nesting occurs, and can safely and stably execute tasks.

After data acquisition of the motion sensor is carried out, identification of cow behaviors is achieved by adopting a K-means clustering algorithm, wherein the input of the K-means clustering algorithm comprises a data set X, n data elements and the number K of clusters, the output is a set of K clusters when the square sum of the cluster errors is converged, and the specific steps of the K-means algorithm are as follows:

1) Selecting k data points from the data set X as initial clustering center nodes C _j ，j＝1,2,3,…，k；

2) The Euclidean distance D (X) of each data node to the cluster center node of the initial cluster is calculated _i ，C _j )，i＝1,2,3，…n,j＝1,2,3,…，k；

3) If D (X) _i ，C _j )＝min{D(X _i ，C _j ) J=1, 2,3, …, k }, then X _i ∈Y _j I.e. comparing the distance from each data node to the central node of each cluster, X _i Dividing into clusters with minimum distance;

4) Re-computing cluster center nodes of new clustersj＝1,2,3,…，k；

5) Determining whether a clustering criterion function is converged, wherein the criterion functionIf E is less than or equal to epsilon, the clustering criterion function is converged, the algorithm is ended, otherwise, the distance from each data node to the cluster center node is continuously calculated, and iteration is repeated until the criterion function is converged;

wherein the Euclidean distance formula is

The smaller the Euclidean distance between data nodes, the greater the Xi and yi similarity of the data samples, and vice versa.

The motion sensor adopts three-dimensional modeling to represent the movement of cowsThe dynamic mode is an x-axis acceleration value, a y-axis acceleration value and a z-axis acceleration value respectively, and then the three-axis acceleration values are combinedWhere ax, ay and az represent the triaxial acceleration raw values, respectively.

The repetition frequency of the motion of the animal is between 0 and 20HZ, and certain error is generated in the data acquisition process, so that the data of the motion sensor needs to be filtered, noise is filtered through a smooth waveform, and as shown in the figures 9-11, the analysis shows that when the livestock keeps stationary, the sensor can only output the value of the gravity acceleration, and the total acceleration value is 1g; when livestock starts to move, different accelerations are generated in the horizontal direction, the combined acceleration value of the accelerations is larger, and when the livestock runs, the acceleration value in the horizontal direction is larger, and the combined acceleration value is also larger, so that the collected acceleration data of the livestock can be subjected to clustering analysis by using a K-means mean value clustering method, the movement state of the livestock is judged, and the movement of the livestock is identified.

An intelligent monitoring device which is worn on a cow body and is in communication connection with an intelligent monitoring platform, comprising;

the motion sensor in the data acquisition component acquires acceleration information and gyroscope information of cows in pastures:

the temperature sensor is used for collecting body temperature information of cows in pasture:

and a GPS module: the method comprises the steps of collecting position information of cows in pastures; the data acquisition component is worn at the neck of the cow through the binding belt.

The working principle of the invention is as follows:

referring to the drawings 1-13 in the specification, the intelligent monitoring platform and the device are in use:

(1) The technology of the Internet of things is applied to the field of animal husbandry, the fact that the data acquisition component can be arranged on a cow body in a pasture is determined, real-time comprehensive acquisition of motion information, body temperature information and position information of the cow is completed by the data acquisition component, information interconnection with a terminal upper computer is realized through the communication component, and the fact that the terminal can display the motion information of the cow in real time and complete storage is realized;

(2) The design of the data acquisition component is completed, and the STM32 chip is combined with the motion sensor MPU6050, the GPS positioning module, the SD card and the wireless transmission module, and then the control software part is combined to realize the long-time and stable wearing of the data acquisition component on the cow;

(3) The display of the cow movement information, the position information and the temperature information acquired by the data acquisition component is completed through the terminal upper computer, and after the cow movement information data and the temperature information data are received, the cow movement information data and the temperature information data are displayed in a chart form, and the position information is displayed by a map to realize the positioning of the cow;

(4) The method comprises the steps of acquiring motion information of a cow through a motion sensor acquired within a period of time, analyzing the motion data of the cow through a three-dimensional modeling mode, finding different rules of triaxial acceleration data in the motion process, carrying out cluster analysis on the motion sensor data, and identifying different actions of the cow, so that the health state of the cow is monitored finally through judging the daily duty ratio of different motion behaviors of the cow;

(5) The position motion trail graphs of the cows and the pastures are acquired through the data acquisition component, and the data storage is synchronously carried out, so that the movement trail of the cows is convenient for a practitioner to judge the grass eating condition of the cows, and the intelligent monitoring of the cows is realized by combining the feeding frequency and other data of the cows;

to sum up: the intelligent monitoring platform and the intelligent monitoring device for the cows based on the intelligent pasture realize the monitoring function for the cows in the pasture through the data acquisition component, the movement information of the cows acquired by the data acquisition component is transmitted to the upper computer of the terminal through the wireless transmission module, and the upper computer software can display the data of each sensor in real time, so that the monitoring of the health state of the cows by the practitioner through the displayed positioning map data, temperature data and movement information is facilitated; meanwhile, the power consumption of the transmitted data adopted by the data acquisition component is 148.6mA, the GPS positioning error is controlled within the range of 30m, and meanwhile, the transmission distance of the wireless transmission module is more than 2000m, so that the requirements of long-distance transmission and low power consumption are met, the positioning information of cows in pastures can be accurately acquired, and when an emergency occurs, the cows can be timely cured, thereby being beneficial to the management of cows in the pastures.

The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention, which is defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (9)

1. The utility model provides a cow intelligent monitoring platform based on wisdom pasture, including data acquisition subassembly and terminal host computer, data acquisition subassembly passes through wireless transmission module with terminal host computer and links to each other, its characterized in that: the data acquisition assembly comprises an STM32 chip, a storage module, a GPS positioning sensor, a motion sensor and a temperature sensor, and is arranged outside the cow body; the microcontroller is used for receiving the movement information, the position information and the temperature information of the cows; the terminal upper computer comprises a data receiving module, a data display module and a data processing module;

the data receiving module is used for receiving the motion information, the position information and the temperature information acquired by the data acquisition component;

the data display module is used for displaying motion information, position information and temperature information in real time;

the data processing module is used for processing the motion information, the position information and the temperature information acquired by the data display module and respectively completing display in the form of a chart, a map and a chart;

the wireless transmission module is set based on a Beidou satellite system, the user section of the wireless transmission module comprises an AS32 module and an antenna which adopt SX1278 AS a core, the AS32 module which adopts SX1278 AS the core transmits the acquired cow motion information, position information and temperature information to an STM32 chip, and the further STM32 chip is in communication connection with a terminal upper computer to form information sharing and is further uploaded to a database;

the model of the motion sensor is MPU6050, which can collect acceleration information, gyroscope information and body surface temperature information of cows in pastures and transmit the information to an STM32 chip through an IIC interface;

the GPS positioning sensor is used for positioning the cow, GPS information is transmitted to the STM32 chip through the UART interface, the STM32 chip stores received data into the Micro SD card through the SPI bus, and meanwhile, the received data is transmitted to the terminal upper computer through the wireless transmission module.

2. The intelligent cow monitoring platform based on the intelligent pasture according to claim 1, wherein, because the hardware IIC interface of the STM32 chip is unstable, the PB10 and PB11 pins of the STM32 chip and the SCL and SDA data lines connected with the motion sensor MPU6050 are initialized, then the register of the motion sensor MPU6050 is reset to a default value, and then the motion sensor MPU6050 is awakened to ensure that the motion sensor MPU6050 enters a normal working state.

3. The intelligent cow monitoring platform based on intelligent pasture as set forth in claim 2, wherein the acceleration full scale of the motion sensor MPU6050 is set to ±2g, and the full scale of the gyroscope is set to ±2000dps.

4. The intelligent cow monitoring platform based on the intelligent pasture as set forth in claim 2, wherein the device ID of the motion sensor MPU6050 is read through the IIC interface, the PA15 pin is controlled to output a low level, the sensor device ID is made to be 0x68, and if the read device ID does not match with 0x68, the IIC pin initializing operation is performed again; if the correct device ID is read, the clock source is configured and data is sent to the STM32 chip.

5. The intelligent cow monitoring platform based on the intelligent pasture according to claim 1, wherein the GPS module adopts a U-BLOX NEO-6M module, after the NEO-6M module is electrified, GPS information of different frames is sent in turn, UART interface interruption is triggered after the UART interface receives GPS data, a data frame with frame header being SGPRMC is detected in an interruption service program, and UTC time information and longitude and latitude value information are sent from the UART interface to a terminal upper computer after detection is successful.

6. The intelligent cow monitoring platform based on the intelligent pasture as set forth in claim 1, wherein after the data collection of the motion sensor is performed, the identification of cow behaviors is realized by adopting a K-means clustering algorithm, the input of the K-means clustering algorithm comprises a data set X, wherein the data set X contains n data elements and the number K of clusters, the output is a set of K clusters when the square sum of the cluster errors is converged, and the specific steps of the K-means algorithm are as follows:

1) Selecting k data points from the data set X as initial clustering center nodes C _j ，j＝1,2,3,…，k；

2) The Euclidean distance D (X) of each data node to the cluster center node of the initial cluster is calculated _i ，C _j )，i＝1,2,3，…n,j＝1,2,3,…，k；

3) If D (X) _i ，C _j )＝min{D(X _i ，C _j ) J=1, 2,3, …, k }, then X _i ∈Y _j I.e. comparing the distance from each data node to the central node of each cluster, X _i Dividing into clusters with minimum distance;

4) Re-computing cluster center nodes of new clusters

5) Determining whether a clustering criterion function is converged, wherein the criterion functionIf E is less than or equal to epsilon,the clustering criterion function is converged, the algorithm is ended, otherwise, the distance from each data node to the cluster center node is calculated continuously, and iteration is repeated until the criterion function converges;

wherein the Euclidean distance formula is

7. The intelligent cow monitoring platform based on intelligent pasture as set forth in claim 6, wherein the smaller the euclidean distance between data nodes, the greater the Xi and yi similarities of the data samples, and vice versa.

8. The intelligent cow monitoring platform based on intelligent pasture as set forth in claim 1, wherein the motion sensor adopts three-dimensional modeling to represent the motion mode of the cow, namely an x-axis acceleration value, a y-axis acceleration value and a z-axis acceleration value, and the three-axis acceleration values are combinedWhere ax, ay and az represent the triaxial acceleration raw values, respectively.

9. An intelligent monitoring device which is worn on a cow body and is in communication connection with an intelligent monitoring platform, and is characterized by comprising;

the motion sensor in the data acquisition component acquires acceleration information and gyroscope information of cows in pastures:

the temperature sensor is used for collecting body temperature information of cows in pasture:

and a GPS module: the method comprises the steps of collecting position information of cows in pastures; the data acquisition component is worn at the neck of the cow through the binding belt.